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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnubot_1_1para__traj__planning.html">nubot::para_traj_planning</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">trajectory planning for parabolic curve transition. The trajectory consists of 3 part: two parabolic curve in the beginning and in the end; a straight line in the middle. This trajectory avoids the infinite acceleration at the beginning and at the end if just sepcify straight line trajectory  <a href="classnubot_1_1para__traj__planning.html#details">More...</a><br/></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:ga1300969c1d26ae23945d2ac1bc428a96"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga1300969c1d26ae23945d2ac1bc428a96">nubot::para_traj_planning::para_traj_planning</a> (double _accel=0.0, double _max_vel=0.0, double _distance=0.0)</td></tr>
<tr class="memdesc:ga1300969c1d26ae23945d2ac1bc428a96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. Initialize <a class="el" href="classnubot_1_1para__traj__planning.html" title="trajectory planning for parabolic curve transition. The trajectory consists of 3 part: two parabolic ...">para_traj_planning</a> params.  <a href="#ga1300969c1d26ae23945d2ac1bc428a96">More...</a><br/></td></tr>
<tr class="separator:ga1300969c1d26ae23945d2ac1bc428a96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gac091cb7cbef52a262db8952f52dc717d"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gac091cb7cbef52a262db8952f52dc717d">nubot::para_traj_planning::~para_traj_planning</a> ()</td></tr>
<tr class="memdesc:gac091cb7cbef52a262db8952f52dc717d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#gac091cb7cbef52a262db8952f52dc717d">More...</a><br/></td></tr>
<tr class="separator:gac091cb7cbef52a262db8952f52dc717d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga18420bf66ac499e432718b9c6faab5b2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga18420bf66ac499e432718b9c6faab5b2">nubot::para_traj_planning::Init</a> (double _accel=0.0, double _max_vel=0.0, double _distance=0.0)</td></tr>
<tr class="memdesc:ga18420bf66ac499e432718b9c6faab5b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize <a class="el" href="classnubot_1_1para__traj__planning.html" title="trajectory planning for parabolic curve transition. The trajectory consists of 3 part: two parabolic ...">para_traj_planning</a> params.  <a href="#ga18420bf66ac499e432718b9c6faab5b2">More...</a><br/></td></tr>
<tr class="separator:ga18420bf66ac499e432718b9c6faab5b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gacacb310a853b8045c860fd4735610b70"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gacacb310a853b8045c860fd4735610b70">nubot::para_traj_planning::SetAccel</a> (double _accel)</td></tr>
<tr class="memdesc:gacacb310a853b8045c860fd4735610b70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the constant acceleration for the parabolic curve.  <a href="#gacacb310a853b8045c860fd4735610b70">More...</a><br/></td></tr>
<tr class="separator:gacacb310a853b8045c860fd4735610b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga52da7443d436abac47ea0a84fb734032"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga52da7443d436abac47ea0a84fb734032">nubot::para_traj_planning::SetDistance</a> (double _distance)</td></tr>
<tr class="memdesc:ga52da7443d436abac47ea0a84fb734032"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set distance about to travel.  <a href="#ga52da7443d436abac47ea0a84fb734032">More...</a><br/></td></tr>
<tr class="separator:ga52da7443d436abac47ea0a84fb734032"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gae85df349fd73029b13b60ca13a60c37d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gae85df349fd73029b13b60ca13a60c37d">nubot::para_traj_planning::SetMaxVel</a> (double _vel)</td></tr>
<tr class="memdesc:gae85df349fd73029b13b60ca13a60c37d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum velocity.  <a href="#gae85df349fd73029b13b60ca13a60c37d">More...</a><br/></td></tr>
<tr class="separator:gae85df349fd73029b13b60ca13a60c37d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaec43c0428c311568c6369d02e12795e8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gaec43c0428c311568c6369d02e12795e8">nubot::para_traj_planning::GetAccel</a> () const </td></tr>
<tr class="memdesc:gaec43c0428c311568c6369d02e12795e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the constant acceleration.  <a href="#gaec43c0428c311568c6369d02e12795e8">More...</a><br/></td></tr>
<tr class="separator:gaec43c0428c311568c6369d02e12795e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gadca3092bc6cfe64f2b7fb09dd66c50c9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gadca3092bc6cfe64f2b7fb09dd66c50c9">nubot::para_traj_planning::GetDistance</a> () const </td></tr>
<tr class="memdesc:gadca3092bc6cfe64f2b7fb09dd66c50c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get distance about to travel.  <a href="#gadca3092bc6cfe64f2b7fb09dd66c50c9">More...</a><br/></td></tr>
<tr class="separator:gadca3092bc6cfe64f2b7fb09dd66c50c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8c5b225529f70ba36617a81b38f2da61"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga8c5b225529f70ba36617a81b38f2da61">nubot::para_traj_planning::GetMaxVel</a> () const </td></tr>
<tr class="memdesc:ga8c5b225529f70ba36617a81b38f2da61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum velocity or the velocity of the straight line part.  <a href="#ga8c5b225529f70ba36617a81b38f2da61">More...</a><br/></td></tr>
<tr class="separator:ga8c5b225529f70ba36617a81b38f2da61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga444ae4938bb69327f99d293fb08b3d4d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga444ae4938bb69327f99d293fb08b3d4d">nubot::para_traj_planning::VelUpdate</a> (double _dt)</td></tr>
<tr class="memdesc:ga444ae4938bb69327f99d293fb08b3d4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get velocity of the trajectory.  <a href="#ga444ae4938bb69327f99d293fb08b3d4d">More...</a><br/></td></tr>
<tr class="separator:ga444ae4938bb69327f99d293fb08b3d4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gae67aeaf943c7db5c12b18ec4d915247b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gae67aeaf943c7db5c12b18ec4d915247b">nubot::para_traj_planning::DispUpdate</a> (double _dt)</td></tr>
<tr class="memdesc:gae67aeaf943c7db5c12b18ec4d915247b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get displacement of the trajectory.  <a href="#gae67aeaf943c7db5c12b18ec4d915247b">More...</a><br/></td></tr>
<tr class="separator:gae67aeaf943c7db5c12b18ec4d915247b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8b1a8820091ff8bb12801171ef10d9f2"><td class="memItemLeft" align="right" valign="top">para_traj_planning &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga8b1a8820091ff8bb12801171ef10d9f2">nubot::para_traj_planning::operator=</a> (const para_traj_planning &amp;_p)</td></tr>
<tr class="memdesc:ga8b1a8820091ff8bb12801171ef10d9f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="#ga8b1a8820091ff8bb12801171ef10d9f2">More...</a><br/></td></tr>
<tr class="separator:ga8b1a8820091ff8bb12801171ef10d9f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaeb7b8fa44365f9b6e81a24214d2556a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gaeb7b8fa44365f9b6e81a24214d2556a4">nubot::para_traj_planning::Reset</a> ()</td></tr>
<tr class="memdesc:gaeb7b8fa44365f9b6e81a24214d2556a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset all the params, output_vel_ and output_disp_;.  <a href="#gaeb7b8fa44365f9b6e81a24214d2556a4">More...</a><br/></td></tr>
<tr class="separator:gaeb7b8fa44365f9b6e81a24214d2556a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:gac2f88068a317316a2e483be7d75a71b8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gac2f88068a317316a2e483be7d75a71b8">nubot::para_traj_planning::acceleration_</a></td></tr>
<tr class="memdesc:gac2f88068a317316a2e483be7d75a71b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">constant acceleration of the parabolic curve.  <a href="#gac2f88068a317316a2e483be7d75a71b8">More...</a><br/></td></tr>
<tr class="separator:gac2f88068a317316a2e483be7d75a71b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga6115be17c446c1a2437b5575baf3f5a8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga6115be17c446c1a2437b5575baf3f5a8">nubot::para_traj_planning::distance_</a></td></tr>
<tr class="memdesc:ga6115be17c446c1a2437b5575baf3f5a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">total distance to travel  <a href="#ga6115be17c446c1a2437b5575baf3f5a8">More...</a><br/></td></tr>
<tr class="separator:ga6115be17c446c1a2437b5575baf3f5a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga1ae8b889bdbb7716e9fbb5821328e4d1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga1ae8b889bdbb7716e9fbb5821328e4d1">nubot::para_traj_planning::max_vel_</a></td></tr>
<tr class="memdesc:ga1ae8b889bdbb7716e9fbb5821328e4d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">maximum velocity; the const velocity of the stragight line trajectory  <a href="#ga1ae8b889bdbb7716e9fbb5821328e4d1">More...</a><br/></td></tr>
<tr class="separator:ga1ae8b889bdbb7716e9fbb5821328e4d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga06fe0c4fbd1afaa2a33672a85705410a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga06fe0c4fbd1afaa2a33672a85705410a">nubot::para_traj_planning::time_</a></td></tr>
<tr class="memdesc:ga06fe0c4fbd1afaa2a33672a85705410a"><td class="mdescLeft">&#160;</td><td class="mdescRight">total time starting from 0  <a href="#ga06fe0c4fbd1afaa2a33672a85705410a">More...</a><br/></td></tr>
<tr class="separator:ga06fe0c4fbd1afaa2a33672a85705410a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gae57f0165c2b073b880bf4827bdd76204"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#gae57f0165c2b073b880bf4827bdd76204">nubot::para_traj_planning::output_vel_</a></td></tr>
<tr class="memdesc:gae57f0165c2b073b880bf4827bdd76204"><td class="mdescLeft">&#160;</td><td class="mdescRight">output velocity of the trajectory  <a href="#gae57f0165c2b073b880bf4827bdd76204">More...</a><br/></td></tr>
<tr class="separator:gae57f0165c2b073b880bf4827bdd76204"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9095bac66ff724f1b9b9c366546f2b36"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga9095bac66ff724f1b9b9c366546f2b36">nubot::para_traj_planning::output_disp_</a></td></tr>
<tr class="memdesc:ga9095bac66ff724f1b9b9c366546f2b36"><td class="mdescLeft">&#160;</td><td class="mdescRight">output displacement of the trajectory  <a href="#ga9095bac66ff724f1b9b9c366546f2b36">More...</a><br/></td></tr>
<tr class="separator:ga9095bac66ff724f1b9b9c366546f2b36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga89b8a9abfcb47b34ac861127fe26b8ca"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga89b8a9abfcb47b34ac861127fe26b8ca">nubot::para_traj_planning::t_b_</a></td></tr>
<tr class="memdesc:ga89b8a9abfcb47b34ac861127fe26b8ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">end time of the first parabolic curve  <a href="#ga89b8a9abfcb47b34ac861127fe26b8ca">More...</a><br/></td></tr>
<tr class="separator:ga89b8a9abfcb47b34ac861127fe26b8ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9c93d92b950dcb6f34b3c3b843aad823"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga9c93d92b950dcb6f34b3c3b843aad823">nubot::para_traj_planning::t_f_</a></td></tr>
<tr class="memdesc:ga9c93d92b950dcb6f34b3c3b843aad823"><td class="mdescLeft">&#160;</td><td class="mdescRight">end time of the trajectory  <a href="#ga9c93d92b950dcb6f34b3c3b843aad823">More...</a><br/></td></tr>
<tr class="separator:ga9c93d92b950dcb6f34b3c3b843aad823"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga84667362f94667e70f1cf67829645a7d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__nubot.html#ga84667362f94667e70f1cf67829645a7d">nubot::para_traj_planning::is_straight_line_</a></td></tr>
<tr class="memdesc:ga84667362f94667e70f1cf67829645a7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to indicate if there is a straight line part  <a href="#ga84667362f94667e70f1cf67829645a7d">More...</a><br/></td></tr>
<tr class="separator:ga84667362f94667e70f1cf67829645a7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Function Documentation</h2>
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          <td class="memname">double para_traj_planning::DispUpdate </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_dt</em></td><td>)</td>
          <td></td>
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      </table>
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<p>Get displacement of the trajectory. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_dt</td><td>Change in time since last update call. </td></tr>
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  </dd>
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<dl class="section return"><dt>Returns</dt><dd>the displacemet </dd></dl>

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          <td> const</td>
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<p>Get the constant acceleration. </p>
<dl class="section return"><dt>Returns</dt><dd>The constant acceleration </dd></dl>

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          <td> const</td>
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<p>Get distance about to travel. </p>
<dl class="section return"><dt>Returns</dt><dd>The distance </dd></dl>

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          <td> const</td>
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<p>Get the maximum velocity or the velocity of the straight line part. </p>
<dl class="section return"><dt>Returns</dt><dd>The maximum velocity </dd></dl>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_accel</em> = <code>0.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_max_vel</em> = <code>0.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_distance</em> = <code>0.0</code>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Initialize <a class="el" href="classnubot_1_1para__traj__planning.html" title="trajectory planning for parabolic curve transition. The trajectory consists of 3 part: two parabolic ...">para_traj_planning</a> params. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_accel</td><td>The acceleration. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_distance</td><td>The total distance to travel. If _distance is negative, it will changed to positive in this function. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_max_vel</td><td>The maximum velocity. </td></tr>
  </table>
  </dd>
</dl>

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          <td class="paramtype">const <a class="el" href="classnubot_1_1para__traj__planning.html">para_traj_planning</a> &amp;&#160;</td>
          <td class="paramname"><em>_p</em></td><td>)</td>
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<p>Assignment operator. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">_p</td><td>a reference to a para_traj_plannining to assign values from </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>reference to this instance </dd></dl>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_accel</em> = <code>0.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_max_vel</em> = <code>0.0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_distance</em> = <code>0.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Constructor. Initialize <a class="el" href="classnubot_1_1para__traj__planning.html" title="trajectory planning for parabolic curve transition. The trajectory consists of 3 part: two parabolic ...">para_traj_planning</a> params. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_accel</td><td>The acceleration. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_distance</td><td>The total distance to travel. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_max_vel</td><td>The maximum velocity. </td></tr>
  </table>
  </dd>
</dl>

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          <td></td>
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<p>Reset all the params, output_vel_ and output_disp_;. </p>

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          <td class="paramname"><em>_accel</em></td><td>)</td>
          <td></td>
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<p>Set the constant acceleration for the parabolic curve. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_accel</td><td>the acceleration. </td></tr>
  </table>
  </dd>
</dl>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_distance</em></td><td>)</td>
          <td></td>
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<p>Set distance about to travel. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_distance</td><td>the distance </td></tr>
  </table>
  </dd>
</dl>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_vel</em></td><td>)</td>
          <td></td>
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<p>Set the maximum velocity. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_vel</td><td>the velocity </td></tr>
  </table>
  </dd>
</dl>

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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_dt</em></td><td>)</td>
          <td></td>
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<p>Get velocity of the trajectory. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">_in]</td><td>_dt Change in time since last update call. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the velocity </dd></dl>

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          <td></td>
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<p>Destructor. </p>

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<h2 class="groupheader">Variable Documentation</h2>
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<p>constant acceleration of the parabolic curve. </p>

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<p>total distance to travel </p>

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<p>flag to indicate if there is a straight line part </p>

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<p>maximum velocity; the const velocity of the stragight line trajectory </p>

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<p>output displacement of the trajectory </p>

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<p>output velocity of the trajectory </p>

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<p>end time of the first parabolic curve </p>

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<p>end time of the trajectory </p>

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<p>total time starting from 0 </p>

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